# Model-Based Embedded Road Grade Estimation Using Quaternion Unscented Kalman Filter

> Research article (IEEE Transactions on Vehicular Technology, 2022) · cited 20× · AI/ML

**Wikidata**: [openalex:W4210370318](https://www.wikidata.org/wiki/openalex:W4210370318)  
**Source**: https://4ort.xyz/entity/model-based-embedded-road-grade-estimation-using-quaternion-unscented-kalman-filter